An autonomous driving system utilizing image processing accelerated by FPGA

This paper presents an autonomous driving system utilizing FPGA-based image processing. We develop a robot that our system is implemented on Ultra96-V2, a board with programmable logic and processing system. We use ROS, a middleware framework for developing robots, to manage the system such as controlling hardware devices, localization and determination of the direction to go. We implement a neural network to detect road markings on the road on a programmable logic on the board. The robot with our system implemented drives autonomously along the specified route on a miniature road, recognizing edge line and road markings.